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Effective use of data is an essential asset to modern cities. Visualization as a tool for analysis, exploration, and communication has become a driving force in the task of unravelling our complex urban fabrics. This paper outlines the findings from a series of three workshops from 2018-2020 bringing together experts in urban data visualization with the aim of exploring multidisciplinary perspectives from the human-centric lens. Based on the rich and detailed workshop discussions identifying challenges and opportunities for urban data visualization research, we outline major human-centric themes and considerations fundamental for CityVis design and introduce a framework for an urban visualization design space.